CA2987318C - Systems and methods for materials handling vehicle odometry calibration - Google Patents

Systems and methods for materials handling vehicle odometry calibration Download PDF

Info

Publication number
CA2987318C
CA2987318C CA2987318A CA2987318A CA2987318C CA 2987318 C CA2987318 C CA 2987318C CA 2987318 A CA2987318 A CA 2987318A CA 2987318 A CA2987318 A CA 2987318A CA 2987318 C CA2987318 C CA 2987318C
Authority
CA
Canada
Prior art keywords
materials handling
handling vehicle
filter
alpha
scaling factor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA2987318A
Other languages
English (en)
French (fr)
Other versions
CA2987318A1 (en
Inventor
Timothy William Fanselow
Justin Forbes THODE
Ryan Michaels ESTEP
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Crown Equipment Corp
Original Assignee
Crown Equipment Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Crown Equipment Corp filed Critical Crown Equipment Corp
Publication of CA2987318A1 publication Critical patent/CA2987318A1/en
Application granted granted Critical
Publication of CA2987318C publication Critical patent/CA2987318C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/02—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/18—Distance travelled

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Navigation (AREA)
  • Measurement Of Distances Traversed On The Ground (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CA2987318A 2015-05-26 2016-05-19 Systems and methods for materials handling vehicle odometry calibration Active CA2987318C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562166183P 2015-05-26 2015-05-26
US62/166,183 2015-05-26
PCT/US2016/033199 WO2016191182A1 (en) 2015-05-26 2016-05-19 Systems and methods for materials handling vehicle odometry calibration

Publications (2)

Publication Number Publication Date
CA2987318A1 CA2987318A1 (en) 2016-12-01
CA2987318C true CA2987318C (en) 2019-01-15

Family

ID=56121169

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2987318A Active CA2987318C (en) 2015-05-26 2016-05-19 Systems and methods for materials handling vehicle odometry calibration

Country Status (9)

Country Link
US (3) US9921067B2 (es)
EP (2) EP3304002B1 (es)
KR (2) KR101878649B1 (es)
CN (1) CN107667274B (es)
AU (3) AU2016268034B2 (es)
BR (1) BR112017025109A2 (es)
CA (1) CA2987318C (es)
MX (2) MX2017015064A (es)
WO (1) WO2016191182A1 (es)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11370422B2 (en) * 2015-02-12 2022-06-28 Honda Research Institute Europe Gmbh Method and system in a vehicle for improving prediction results of an advantageous driver assistant system
JP6671506B2 (ja) * 2016-01-04 2020-03-25 浙江立▲ビアオ▼机器人有限公司Ｚｈｅｊｉａｎｇ Ｌｉｂｉａｏ Ｒｏｂｏｔｓ Ｃｏ．， Ｌｔｄ． ロボットホイール径補完方法及び装置
US10546385B2 (en) * 2016-02-25 2020-01-28 Technion Research & Development Foundation Limited System and method for image capture device pose estimation
EP3409629B2 (en) * 2017-06-01 2024-02-28 Otis Elevator Company Image analytics for elevator maintenance
US10870556B2 (en) * 2017-12-12 2020-12-22 Otis Elevator Company Method and system for detecting elevator car operating panel condition
US10961082B2 (en) 2018-01-02 2021-03-30 Otis Elevator Company Elevator inspection using automated sequencing of camera presets
US10941018B2 (en) * 2018-01-04 2021-03-09 Otis Elevator Company Elevator auto-positioning for validating maintenance
FR3083607A1 (fr) * 2018-07-06 2020-01-10 Balyo Procede et dispositif de positionnement pour vehicule, et vehicule comportant un tel dispositif
CN112424721A (zh) 2018-07-17 2021-02-26 克朗设备公司 使用机架腿标识进行车辆位置校准的系统和方法
DE102018117660A1 (de) * 2018-07-20 2020-01-23 Man Truck & Bus Se Verfahren und system zum bestimmen einer position eines fahrzeugs
CN109556630A (zh) * 2018-10-31 2019-04-02 惠州华阳通用电子有限公司 一种车辆里程修正方法及装置
CN113544616B (zh) 2019-02-06 2024-05-28 克朗设备公司 使用货架支柱标识的通道末端保护和车辆位置校准的系统和方法
AU2020225213B2 (en) * 2019-02-19 2023-11-16 Crown Equipment Corporation Systems and methods for calibration of a pose of a sensor relative to a materials handling vehicle
CN110723484B (zh) * 2019-09-26 2020-12-15 兰剑智能科技股份有限公司 穿梭车行走自动纠偏方法、装置、计算机设备及存储介质
DE102019134925A1 (de) * 2019-12-18 2021-06-24 Valeo Schalter Und Sensoren Gmbh Verfahren zum Kalibrieren von Odometriedaten für ein Fahrzeug
CN113124896B (zh) * 2019-12-30 2023-03-28 上海智远慧智能技术股份有限公司 一种agv里程计在线精确校准的控制方法
CN112013843B (zh) * 2020-09-18 2023-11-17 中国人民解放军32202部队 一种惯导与车辆中央充放气系统融合的里程因数修正方法
KR102667649B1 (ko) * 2021-11-11 2024-05-21 한라대학교 산학협력단 자율 주행 이동 로봇의 기구학적 파라미터 오차 보정 장치 및 그 방법
CN114136232A (zh) * 2021-11-19 2022-03-04 中国神华能源股份有限公司哈尔乌素露天煤矿 一种物料堆积形态测量方法及系统
CN114659539B (zh) * 2022-03-28 2024-08-13 安徽博泰微电子有限公司 一种汽车电子计量设备失准判断方法
US11875615B2 (en) 2022-04-29 2024-01-16 Toyota Research Institute, Inc. Odometry noise model fitting from fleet-scale datasets
CN114935347B (zh) * 2022-07-25 2022-11-08 季华实验室 一种轮式机器人的里程计校正方法、电子设备及存储介质

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4939659A (en) 1988-01-15 1990-07-03 Allied-Signal, Inc. Speed/rpm transmitting device
US5155684A (en) * 1988-10-25 1992-10-13 Tennant Company Guiding an unmanned vehicle by reference to overhead features
EP0366350A3 (en) * 1988-10-25 1991-05-22 Tennant Company Guiding an unmanned vehicle by reference to overhead features
US5020008A (en) 1989-06-05 1991-05-28 Allied-Signal Inc. Method of calibrating vehicle speed signals
JP3378360B2 (ja) * 1994-06-30 2003-02-17 松下電器産業株式会社 速度センサ係数算出装置
DE4430462A1 (de) * 1994-08-27 1996-02-29 Teves Gmbh Alfred Verfahren zum schnellen Erkennen eines Notrades
IT1285866B1 (it) * 1996-05-09 1998-06-24 Magneti Marelli Spa Sistema di navigazione per un autoveicolo, con calibrazione automatica dei sensori di bordo.
JP3435623B2 (ja) * 1996-05-15 2003-08-11 株式会社日立製作所 交通流監視装置
DE19637616A1 (de) * 1996-09-16 1998-03-19 Bosch Gmbh Robert Verfahren zum automatischen Kalibrieren eines Wegsensors und Vorrichtung
DE19945119C2 (de) * 1999-09-21 2001-12-06 Mannesmann Vdo Ag Verfahren zum Navigieren eines bodengebundenen Fahrzeugs
GB2377538B (en) 2001-03-28 2004-12-29 Citysync Ltd An automatic number plate recognition system
KR100541485B1 (ko) * 2002-10-07 2006-01-10 엘지전자 주식회사 차량 항법 유도 시스템 및 이를 이용한 차량 항법 유도방법
EP1500907B1 (en) * 2003-07-21 2014-11-12 LG Electronics, Inc. Apparatus and method for detecting vehicle location in navigation system
US7405834B1 (en) 2006-02-15 2008-07-29 Lockheed Martin Corporation Compensated coherent imaging for improved imaging and directed energy weapons applications
DE112008002434B4 (de) * 2007-09-10 2013-07-11 Mitsubishi Electric Corp. Navigationsausrüstung
CN101911130B (zh) * 2008-01-15 2016-03-23 泰利特汽车解决方案公司 道路收费系统
KR101214143B1 (ko) * 2008-12-22 2012-12-20 한국전자통신연구원 이동체의 위치 및 방향 인식 장치 및 그 방법
WO2010116640A1 (ja) * 2009-03-30 2010-10-14 株式会社エクォス・リサーチ 車両
MX2010005149A (es) 2009-05-08 2012-10-11 Sistemas de seguridad.
JP5609073B2 (ja) * 2009-06-16 2014-10-22 カシオ計算機株式会社 測位装置、測位方法およびプログラム
KR20110121129A (ko) * 2010-04-30 2011-11-07 고려대학교 산학협력단 4-륜 차량의 오도메트리 오차 보정 방법
US9170518B2 (en) 2010-08-26 2015-10-27 Xerox Corporation Method and system for closed-loop control of nip width and image transfer field uniformity for an image transfer system
US8548671B2 (en) * 2011-06-06 2013-10-01 Crown Equipment Limited Method and apparatus for automatically calibrating vehicle parameters
US8594923B2 (en) * 2011-06-14 2013-11-26 Crown Equipment Limited Method and apparatus for sharing map data associated with automated industrial vehicles
US8589012B2 (en) 2011-06-14 2013-11-19 Crown Equipment Limited Method and apparatus for facilitating map data processing for industrial vehicle navigation
EP2555017B1 (en) * 2011-08-03 2017-10-04 Harman Becker Automotive Systems GmbH Vehicle navigation on the basis of satellite positioning data and vehicle sensor data
GB2503460B (en) 2012-06-26 2014-08-13 Siemens Plc Method and apparatus for reduction of gradient coil vibration in MRI systems
US9922423B2 (en) 2012-07-12 2018-03-20 Nec Corporation Image angle variation detection device, image angle variation detection method and image angle variation detection program
US20140204083A1 (en) 2013-01-23 2014-07-24 Brent Thomson Systems and methods for real-time distortion processing
KR101511992B1 (ko) * 2013-09-06 2015-04-14 현대모비스(주) 조향 휠 제어 방법 및 이를 위한 위한 시스템
US9170581B2 (en) 2013-09-30 2015-10-27 Crown Equipment Limited Industrial vehicles with overhead light based localization
US9354070B2 (en) 2013-10-31 2016-05-31 Crown Equipment Corporation Systems, methods, and industrial vehicles for determining the visibility of features
WO2015199553A2 (en) 2014-06-27 2015-12-30 Crown Equipment Limited Lost vehicle recovery utilizing associated feature pairs
GB2533090A (en) 2014-12-08 2016-06-15 Skf Ab Sensor device with mounting means

Also Published As

Publication number Publication date
KR20180002853A (ko) 2018-01-08
KR20180081835A (ko) 2018-07-17
CA2987318A1 (en) 2016-12-01
BR112017025109A2 (pt) 2018-03-20
CN107667274A (zh) 2018-02-06
AU2016268034B2 (en) 2018-02-08
US10458799B2 (en) 2019-10-29
EP3304002B1 (en) 2019-02-06
AU2018203195A1 (en) 2018-05-24
US9921067B2 (en) 2018-03-20
US20160349061A1 (en) 2016-12-01
MX2020004611A (es) 2020-08-06
US11060872B2 (en) 2021-07-13
WO2016191182A1 (en) 2016-12-01
US20200011674A1 (en) 2020-01-09
CN107667274B (zh) 2021-09-21
EP3511678B1 (en) 2023-02-22
AU2018203195B2 (en) 2020-02-27
AU2016268034A1 (en) 2017-12-14
MX2017015064A (es) 2018-05-07
AU2020203481B2 (en) 2022-07-21
EP3511678A1 (en) 2019-07-17
KR101998561B1 (ko) 2019-07-10
AU2020203481A1 (en) 2020-06-18
KR101878649B1 (ko) 2018-07-16
EP3304002A1 (en) 2018-04-11
US20180164104A1 (en) 2018-06-14

Similar Documents

Publication Publication Date Title
AU2020203481B2 (en) Systems and methods for materials handling vehicle odometry calibration
CA2986698C (en) Systems and methods for image capture device calibration for a materials handling vehicle
US8589013B2 (en) Method and system for dynamically positioning a vehicle relative to another vehicle in motion
US20200264625A1 (en) Systems and methods for calibration of a pose of a sensor relative to a materials handling vehicle
CN112424721A (zh) 使用机架腿标识进行车辆位置校准的系统和方法
US10776632B2 (en) Method and system for detecting a free area inside a parking lot
WO2024057487A1 (ja) 移動体および移動体システム

Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20171127